CN113116392B - Cotton swab sampling manipulator and throat swab automatic acquisition robot - Google Patents
Cotton swab sampling manipulator and throat swab automatic acquisition robot Download PDFInfo
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- CN113116392B CN113116392B CN202110393937.XA CN202110393937A CN113116392B CN 113116392 B CN113116392 B CN 113116392B CN 202110393937 A CN202110393937 A CN 202110393937A CN 113116392 B CN113116392 B CN 113116392B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- Y02W90/10—Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
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Abstract
The invention provides a cotton swab sampling manipulator and an automatic throat swab collecting robot, wherein the cotton swab sampling manipulator comprises an automatic cotton swab clamping and releasing mechanism, a cotton swab rotating mechanism and a cotton swab guiding mechanism; the cotton swab rotating mechanism comprises a bottom wall and a side wall, and the side wall is connected with a driving motor through a connecting piece; the cotton swab guiding mechanism comprises a cotton swab inlet and outlet part and a supporting part, and the cotton swab inlet and outlet part is fixed on the bottom wall through the supporting part; the automatic cotton swab clamping and releasing mechanism is arranged on the bottom wall and comprises an electromagnetic adsorption part, a movable clamping piece, a fixed clamping piece, a spring assembly and a fixed column assembly; the electromagnetic adsorption part is arranged on the bottom wall; one end of the spring component is fixed, and the other end is connected with the movable clamping piece; the fixed column assembly is fixedly connected with the bottom wall, the fixed clamping piece is fixed on the upper portion of the fixed column assembly, and the movable clamping piece is arranged between the fixed clamping piece and the bottom wall and can slide along the fixed column assembly. The invention provides automatic cotton swab sampling equipment which is simple in structure and convenient to process, manufacture and practical operation.
Description
Technical Field
The invention relates to a medical sampling and checking device, in particular to a cotton swab sampling manipulator and a throat swab automatic acquisition robot.
Background
In order to fulfill the need of protecting medical workers, the desire to use swabs for automatic sampling (e.g., pharyngeal swab sampling) is becoming increasingly higher. However, in the prior art, only auxiliary equipment for assisting in sampling is provided, after medical workers need to clamp the cotton swabs through the auxiliary equipment, the auxiliary equipment is held by hands to extend to the corresponding part of the body of the patient, and the auxiliary equipment is manually operated to enable the cotton swabs to rotate at a certain angle at the corresponding part of the body of the patient, so that sampling is completed. Under the condition that a large number of people need to be continuously sampled for a long time, the labor intensity of medical workers is very high, fatigue is very easy to occur, the hand motion precision is easy to be reduced, and the high-efficiency and continuous performance of the sampling work is influenced. Thus, there is a need to propose a highly automated device for automatic sampling with a cotton swab.
Disclosure of Invention
Based on the above-mentioned current situation, the main object of the present invention is to provide a device and apparatus for automatic sampling by using a cotton swab, which is highly automated, simple and compact in structure, and convenient for processing, manufacturing and practical operation.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides a cotton swab sampling manipulator comprising an automatic cotton swab clamping and releasing mechanism, a cotton swab rotating mechanism and a cotton swab guiding mechanism;
the cotton swab rotating mechanism comprises a bottom wall and a side wall which are connected, and a connecting piece which can be fixedly connected with a power output part of the driving motor is arranged on the outer wall surface of the side wall;
the cotton swab guide mechanism is fixedly arranged at one end of the bottom wall, which is far away from the side wall; the cotton swab guiding mechanism comprises a cotton swab inlet and outlet part and a supporting part which are connected, and the cotton swab inlet and outlet part is fixed on the bottom wall through the supporting part;
the automatic cotton swab clamping and releasing mechanism is arranged on the bottom wall; the automatic cotton swab clamping and releasing mechanism comprises an electromagnetic adsorption part, a movable clamping piece, a fixed clamping piece, a spring assembly and a fixed column assembly; the movable clamping piece and the fixed clamping piece are used for clamping the rod part of the cotton swab; the electromagnetic adsorption part is arranged on the bottom wall and is used for adsorbing the movable clamping piece to be far away from the fixed clamping piece; the first end of the spring assembly is fixed, the second end of the spring assembly is connected with the movable clamping piece and is used for applying elastic force to the movable clamping piece so that the movable clamping piece is close to the fixed clamping piece to clamp the cotton swab; the fixed column assembly is fixedly connected with the bottom wall, the fixed clamping piece is fixed on the upper portion of the fixed column assembly, and the movable clamping piece is installed between the fixed clamping piece and the bottom wall and can slide along the fixed column assembly.
Optionally, the spring assembly comprises a plurality of compression springs, each compression spring having a first end secured to the bottom wall and a second end secured to the movable clip.
Optionally, be equipped with a plurality of first blind holes on the diapire, be equipped with a plurality of second blind holes on the movable clamping piece, first blind hole with the second blind hole is opposite to setting in a one-to-one correspondence, the both ends of every compression spring are held respectively in corresponding first blind hole and second blind hole.
Optionally, a stop part is arranged on the fixed column assembly, and the movable clamping piece is positioned between the stop part and the fixed clamping piece; the fixing column assembly comprises a plurality of fixing columns, wherein a shoulder structure is arranged on at least one part of the fixing columns, and the shoulder structure forms the stop part; a first through hole is formed in each fixed column along the axial direction, and the movable clamping piece is provided with a plurality of first openings and sleeved on each fixed column through each first opening; the fixing clamping pieces are arranged at the top ends of the fixing columns, and are provided with second openings, and the diameters of the second openings are smaller than the diameters of the fixing columns; the bottom wall is provided with a third opening, and the fixing bolts respectively pass through the second opening, the first through hole and the third opening in sequence and are matched with the nuts so that the relative positions of the fixing clamping pieces, the fixing columns and the bottom wall are fixed.
Optionally, a first clamping groove is formed in the movable clamping piece, a second clamping groove opposite to the first clamping groove is formed in the fixed clamping piece, and the first clamping groove and the second clamping groove are used for clamping the rod portion of the cotton swab.
Optionally, the cross section external contour of the cotton swab inlet and outlet part is oblate; the inner contour of the cotton swab inlet and outlet part is a flat conical horn hole and is used for guiding the tail end of the cotton swab; and the position of the supporting part corresponding to the horn hole is provided with a perforation, and the inner diameter of the perforation is the same as the inner diameter of the tail end of the horn hole and is used for the rod part of the cotton swab to pass through.
Optionally, a threaded hole is formed in the bottom of the supporting portion, a fourth hole is formed in the bottom wall at a position corresponding to the threaded hole, and a threaded fastener fixedly connects the supporting portion with the bottom wall through the fourth hole and the threaded hole; the upper dimension of the supporting part is larger than the bottom dimension in the axial direction of the cotton swab, the front end of the bottom of the supporting part is close to but not exceeding the front end of the bottom wall, and the front end of the upper part of the supporting part exceeds the front end of the bottom wall; the bottom wall is provided with a positioning block, and the positioning block abuts against the side face, opposite to the side wall, of the supporting portion.
Optionally, a connecting hole with a D-shaped section is formed in the connecting piece and is used for being matched and connected with a power output part of the driving motor to drive, and a straight part of the D-shape corresponds to the top of the connecting hole; the top of the outer surface of the connecting piece is a plane part, and a threaded hole is formed in the plane part and used for screwing in a set screw so as to fix the power output part with the connecting piece.
Optionally, the plane part is provided with a rod part extending outwards vertically and outwards, and the rod part is used for touching a travel switch in the rotation process of the cotton swab rotating mechanism so as to limit the rotation travel of the cotton swab rotating mechanism.
In a second aspect, the invention provides an automatic throat swab collecting robot, which comprises a driving motor and the cotton swab sampling manipulator, wherein the driving motor comprises a power output part, and the power output part is fixedly connected with a connecting piece of the cotton swab rotating mechanism.
According to the cotton swab sampling manipulator provided by the invention, the cotton swab rotating mechanism is driven to rotate by the external motor, and the cotton swab rotating mechanism drives other parts of the manipulator to rotate, so that the cotton swab is ensured to collect a sufficient amount of biological samples, and the automation of cotton swab sampling is realized; the cotton swab guide mechanism and the cotton swab automatic clamping and releasing mechanism are arranged on the bottom wall of the cotton swab rotating mechanism, so that the integrated miniaturization of the cotton swab sampling manipulator is facilitated; through setting up the automatic clamping of cotton swab and release mechanism to including electromagnetism adsorption part, movable clamping piece, fixed clamping piece, spring assembly and fixed column subassembly etc. part structural style is simple, easy equipment, and flaky movable clamping piece and fixed clamping piece do not have the weak position of relative atress, are favorable to this cotton swab sampling manipulator to use for a long time normally.
Other advantages of the present invention will be set forth in the description of specific technical features and solutions, by which those skilled in the art should understand the advantages that the technical features and solutions bring.
Drawings
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. In the figure:
fig. 1 is a schematic perspective view of a preferred embodiment of a cotton swab sampling manipulator according to the present invention;
FIG. 2 is a schematic side view of a preferred embodiment of a swab sampling manipulator according to the present invention;
FIG. 3 is a schematic perspective view of a preferred embodiment of a cotton swab rotating mechanism according to the present invention;
FIG. 4 is a schematic perspective view of a preferred embodiment of a cotton swab guiding mechanism according to the present invention;
FIG. 5 is a schematic perspective view of a preferred embodiment of an automatic swab grasping and releasing mechanism according to the present invention;
fig. 6 is a schematic partial perspective view of a preferred embodiment of the medical device provided by the present invention.
Detailed Description
The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in order to avoid obscuring the present invention, and in order to avoid obscuring the present invention, well-known methods, procedures, flows, and components are not presented in detail.
Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
Referring to fig. 1-5, the present invention provides a swab sampling robot comprising an automatic swab gripping and releasing mechanism 100, a swab rotating mechanism 200, and a swab guiding mechanism 300.
Referring to fig. 1-3, the cotton swab rotating mechanism 200 comprises a bottom wall 210 and a side wall 220 which are connected, wherein a connecting piece 230 which can be fixedly connected with a power output part of a driving motor is arranged on the outer wall surface of the side wall 220. The power output unit of the drive motor may be a rotation output shaft of the motor itself or a rotation output shaft of the speed reducer.
Referring to fig. 1 and 2, the swab guide 300 is fixedly disposed at an end of the bottom wall 210 remote from the side wall 220; the cotton swab guiding mechanism 300 includes a cotton swab inlet and outlet portion 310 and a supporting portion 320 connected to each other, and the cotton swab inlet and outlet portion 310 is fixed to the bottom wall 210 by the supporting portion 320.
Referring to fig. 1, 2 and 5, an automatic swab grasping and releasing mechanism 100 is provided on the bottom wall 210. The automatic swab gripping and releasing mechanism 100 includes an electromagnetic adsorption part 110, a movable jaw 120, a fixed jaw 130, a spring assembly 140, and a fixed column assembly 150; the movable clamping piece 120 and the fixed clamping piece 130 are used for clamping the rod part of the cotton swab; the electromagnetic adsorption part 110 is mounted on the bottom wall 210 and is used for adsorbing the movable clamping piece 120 away from the fixed clamping piece 130; the first end of the spring assembly 140 is fixed, the second end is connected with the movable clamping piece 120, and the spring assembly is used for applying elastic force to the movable clamping piece so as to enable the movable clamping piece 120 to be close to the fixed clamping piece 130 to clamp the cotton swab; the fixed column assembly 150 is fixedly connected with the bottom wall 210, the fixed clamping piece 130 is fixed on the upper portion of the fixed column assembly 150, and the movable clamping piece 120 is installed between the fixed clamping piece 130 and the bottom wall 210 and can slide along the fixed column assembly 150. Thus, when the movable jaw 120 is subjected to the adsorption action of the electrified electromagnetic adsorption part 110, the movable jaw 120 slides downwards along the fixed column assembly 150 from the initial position to approach the electromagnetic adsorption part 110, and a sufficient space is reserved between the sheet-shaped movable jaw 120 and the sheet-shaped fixed jaw 130 for inserting a cotton swab; the downward movement of the movable jaw 120 simultaneously drives the deformation of the spring assembly 140, after the cotton swab is inserted into the preset position, the electromagnetic adsorption part 110 is powered off under the control of the control circuit, the movable jaw 120 is not subjected to the electromagnetic adsorption action any more, under the action of the restoring force of the spring assembly 140, the movable jaw 120 moves upwards along the fixed column assembly 150 until the lower part of the cotton swab is blocked by the cotton swab and cannot continue to move, at the moment, the spring is not completely reset, the upward acting force can be still applied to the movable jaw 120, and the cotton swab can be clamped by the movable jaw 120 and the fixed jaw 130 to execute the subsequent sampling operation; under the conditions that the cotton swab works and the cotton swab needs to be released, the electromagnetic adsorption part 110 is electrified through the control circuit, the electromagnetic adsorption part 110 adsorbs the movable clamping piece 120 to move downwards, the cotton swab is not clamped by the movable clamping piece 120 and the fixed clamping piece 130 any more, and the cotton swab automatically clamps and releases from the cotton swab automatic clamping and releasing mechanism 100 under the action of the gravity of the cotton swab. Preferably, the electromagnetic adsorption portion 110 may include an electromagnet, and the movable jaw 120 may be entirely or partially iron.
According to the cotton swab sampling manipulator provided by the invention, the cotton swab rotating mechanism 200 is driven to rotate by the external motor, and the cotton swab rotating mechanism 200 drives other parts of the manipulator to rotate, so that the cotton swab can collect a sufficient amount of biological samples in one sampling process, and the automation of cotton swab sampling is realized. The cotton swab guiding mechanism 300 and the cotton swab automatic clamping and releasing mechanism 100 are arranged on the bottom wall 210 of the cotton swab rotating mechanism 200, which is beneficial to the integrated miniaturization of the cotton swab sampling manipulator. The automatic cotton swab collecting and releasing mechanism 100 comprises an electromagnetic adsorption part 110, a movable clamping piece 120, a fixed clamping piece 130, a spring assembly 140 and a fixed column assembly 150, and each part has a simple structure and is easy to assemble, so that the automatic cotton swab collecting and releasing mechanism is convenient to manufacture; the electromagnetic adsorption force of the flaky movable clamping piece is distributed uniformly, and the flaky movable clamping piece can stably lift along the fixed column assembly to clamp the cotton swabs; and the flaky movable clamping piece and the fixed clamping piece do not have relative weak stress parts, so that the cotton swab sampling manipulator is beneficial to long-term normal use.
In one particular embodiment, referring to fig. 1, 2 and 5, the spring assembly 140 includes a plurality of compression springs, each compression spring having a first end secured to the bottom wall 210 and a second end secured to the movable clip 120.
One end of each spring in the spring assembly 140 is fixed to the bottom wall, and the other end is connected with the movable clamping piece 120, so that the spring assembly is easy to fix, and the assembly is simple and the number of parts is small. At this time, when the movable jaw 120 moves downward by the adsorption of the electromagnetic adsorption part 110, compression deformation is generated to each spring, and after the adsorption of the movable jaw 120 by the electromagnetic adsorption part 110 disappears, each compression spring gradually extends from the compressed state, so that the movable jaw 120 is moved upward to be matched with the fixed jaw 130 to clamp the cotton swab.
Preferably, the spring assembly 140 may include three compression springs, and the fixed column assembly 150 may include four fixed columns, with the three springs being disposed on three sides of a quadrilateral formed between the four fixed columns, to form a three-point stable support for the movable jaw 120.
As an alternative, the spring assembly may also include a plurality of extension springs, each having a first end secured to the stationary jaw 130 and a second end secured to the movable jaw 120. At this time, the relative movement of the movable clip 120 and the electromagnetic adsorption portion 110 generates a stretching deformation effect on the spring assemblies, and then after the adsorption effect of the electromagnetic adsorption portion 110 on the movable clip 120 disappears, each spring assembly is gradually shortened from an extended state to a near original state, so that the movable clip 120 is driven to move upwards to be matched with the fixed clip 130 to clamp the cotton swab. For example, through holes may be formed at corresponding positions of the fixed jaw 130 and the movable jaw 120, and an upper end of the tension spring is fixed to an upper surface of the fixed jaw 130 through the through hole of the fixed jaw 130, and a lower end of the tension spring is fixed to a lower surface of the movable jaw 120 through the corresponding through hole of the movable jaw 120, so that a sufficient installation space can be secured, and a sufficient length of the tension spring can be secured to generate a proper elastic force, and more importantly, a degree of approaching the movable jaw 120 and the fixed jaw 130 is not hindered.
In a specific embodiment, referring to fig. 1 to fig. 3 and fig. 5, a plurality of first blind holes 211 are formed in the bottom wall 210, a plurality of second blind holes are formed in the movable clip 120, the first blind holes 211 and the second blind holes are oppositely arranged in a one-to-one correspondence manner, and two ends of each compression spring are respectively accommodated in the corresponding first blind holes 211 and second blind holes.
Through the arrangement of the blind holes, the compression spring is limited, so that the compression spring is not easy to incline and shift. Preferably, the natural length of the compression spring is greater than the distance between the bottom surface of the first blind hole and the bottom surface of the second blind hole when the movable clamping piece 120 contacts the fixed clamping piece 130, so that the fixing mode of the compression spring is simplified, and meanwhile, the compression spring can be ensured not to deviate from because the spring is always in a certain compression state in the normal working whole process of the cotton swab sampling manipulator.
In one embodiment, referring to fig. 5, the fixed post assembly 150 is provided with a stop 151, and the movable clip 120 is located between the stop 151 and the fixed clip 130.
Through set up backstop portion 151 on the fixed column subassembly, when can preventing that electromagnetic adsorption portion 110 from adsorbing movable clamping piece 120, movable clamping piece 120 excessively moves down, has avoided the corresponding deflection that produces of spring assembly to surpass its limit deflection, thereby loses the deformability resilience and lead to this cotton swab sampling manipulator to not normally work.
Referring to fig. 3 and 5, the fixing post assembly 150 includes a plurality of fixing posts, at least a portion of which is provided with a shoulder structure, and the shoulder structure forms a stop 151; a first through hole is formed in each fixed column along the axial direction, and the movable clamping piece 120 is provided with a plurality of first openings 121 and sleeved on each fixed column through each first opening; the fixing clamping pieces 130 are arranged at the top ends of the fixing columns, and are provided with second openings, and the diameters of the second openings are smaller than the diameters of the fixing columns; the bottom wall is provided with a third opening 212, and the fixing bolt 160 sequentially passes through the second opening, the first through hole and the third opening 212 and is matched with the nut so that the relative positions among the fixing clamping piece 130, the fixing column and the bottom wall 210 are fixed. Therefore, the fixing clip 130 and the fixing column assembly 150 in the automatic cotton swab clamping and releasing mechanism 100 are firmly fixed on the bottom wall 210 in the cotton swab rotating mechanism 200, after the cotton swab is clamped by the automatic cotton swab clamping and releasing mechanism 100, the cotton swab rotating mechanism 200 rotates to drive the automatic cotton swab clamping and releasing mechanism 100 to stably rotate, and the clamped cotton swab can stably rotate along with the automatic cotton swab clamping and releasing mechanism, so that enough biological samples are collected at corresponding parts of a patient body, and the sampling requirement is met.
In one embodiment, referring to fig. 5, the movable jaw 120 is provided with a first clamping groove 122, the fixed jaw 130 is provided with a second clamping groove 131 opposite to the first clamping groove 122, and the first clamping groove 122 and the second clamping groove 131 are used for clamping the shaft portion of the cotton swab.
Through inserting the cotton swab between first clamping groove 122 and second clamping groove 131, first clamping groove 122 and second clamping groove 131 can restrict the position behind the cotton swab inserts, fix the cotton swab centre gripping in the desired position to restrict the displacement that the cotton swab that is pressed from both sides can take place, be convenient for the accurate positioning of cotton swab sampling manipulator to the cotton swab, make things convenient for follow-up sampling operation to the patient.
In a particular embodiment, referring to fig. 1, 2 and 4, the cross-sectional outer profile of the cotton swab inlet and outlet 310 is oblate; the inner contour of the cotton swab inlet and outlet part 310 is a flat conical horn hole 311 for guiding the tail end of the cotton swab; the support part 320 is provided with a perforation at a position corresponding to the horn hole 311, and the inner diameter of the perforation is the same as the inner diameter of the tail end of the horn hole 311 for the rod part of the cotton swab to pass through.
Specifically, a flat conical horn hole 311 with an inner diameter gradually decreasing from front to back is arranged in the cotton swab inlet and outlet part 310, so that the cotton swab can be smoothly led into a perforation formed at a position corresponding to the tail end position of the horn hole of the support part 320 at the rear part of the cotton swab inlet and outlet part 310, and then the cotton swab can be led into an automatic cotton swab clamping and releasing mechanism; when the preset movement direction of the cotton swab in the inserting process only comprises the horizontal direction, the cross section outline of the cotton swab inlet and outlet part is set to be oblate, so that the oblate conical horn hole mainly guides the cotton swab to smoothly enter the perforation in the supporting part at the rear part of the cotton swab inlet and outlet part in the horizontal direction.
In a specific embodiment, a threaded hole is formed in the bottom of the supporting portion 320, a fourth opening is formed in the bottom wall 210 at a position corresponding to the threaded hole, and a threaded fastener fixedly connects the supporting portion 320 with the bottom wall 210 through the fourth opening and the threaded hole. Therefore, the present invention provides a way to fixedly connect the cotton swab guiding mechanism 300 with the cotton swab rotating mechanism 200, so that when the cotton swab rotating mechanism 200 is stationary, the cotton swab enters the cotton swab automatic clamping and releasing mechanism 100 through the cotton swab guiding mechanism 300 which is stably placed, and even if the cotton swab is not successfully pushed into the tail end of the flat conical horn hole 311 of the cotton swab inlet and outlet due to improper operation, but is pushed to the solid part around the outer contour of the horn hole or the cotton swab inlet and outlet, the cotton swab guiding mechanism is not easy to incline or fall down due to the thrust from the outside (including the external thrust force for pushing the cotton swab, or other thrust force); further, when the cotton swab rotating mechanism rotates after the cotton swab is in place, the cotton swab guide 300 can also rotate with the cotton swab, and the cotton swab rotating mechanism does not have any harmful effect on the rotation of the cotton swab.
Referring to fig. 1 and 2, in the axial direction of the swab, the upper dimension of the support portion 320 is larger than the bottom dimension, and the bottom front end of the support portion 320 is adjacent to but does not exceed the front end of the bottom wall 210, and the upper front end of the support portion 320 exceeds the front end of the bottom wall 210. A sufficient depth is left at the upper portion of the supporting portion 320 to ensure the guiding effect thereof on the cotton swab, further improving the success rate of the cotton swab successfully entering the space between the fixed jaw 130 and the movable jaw 120 of the automatic cotton swab gripping and releasing mechanism 100; the bottom of the supporting portion 320 is not provided with the same depth as the upper portion, and the depth is only required to ensure the connection reliability between the supporting portion 320 and the bottom wall 210, so that the front end of the bottom of the supporting portion 320 is close to but does not exceed the front end of the bottom wall 210, and the front end of the upper portion of the supporting portion 320 exceeds the front end of the bottom wall 210, so that the automatic cotton swab clamping and releasing mechanism 100 can be arranged at the rear end of the bottom of the supporting portion 320, which is beneficial to further miniaturization and integration of the whole cotton swab sampling manipulator.
The bottom wall 210 is provided with a positioning block 213, and the positioning block 213 abuts against a side surface of the supporting portion 320 opposite to the side wall 220. The positioning block 213 is provided in consideration of that the swab guiding mechanism 300 is located at the forefront end of the whole swab sampling manipulator, and a large force (such as an undesired external impact, unintentional touching, etc.) may be applied to the swab guiding mechanism 300 from the outside, so that the positioning block 213 can ensure the stability of the swab guiding mechanism 300, and cannot be bent back or even broken due to the aforementioned force.
In a specific embodiment, referring to fig. 1 and 3, a connecting hole 231 with a D-shaped cross section is formed in the connecting piece 230, and is used for being connected with a power output part of a driving motor in a matching way to perform transmission, and a straight part of the D-shaped corresponds to the top of the connecting hole 231; the top of the outer surface of the connecting member 230 is a flat surface 234, and the flat surface 234 is provided with a threaded hole 232 for screwing in a set screw to fix the power output portion to the connecting member 230. The external driving motor's own rotating output shaft or the reducer's rotating output shaft is inserted into the D-shaped hole inside the connector, and because of the flat portion of the D-shaped hole, the circular rotating output shaft can be limited to rotate relatively to the connector 230, and further, the compression effect of the fastening screw on the rotating output shaft can enhance the limitation of the rotating output shaft to rotate relatively to the connector 230, so that the rotating of the rotating output shaft can only drive the connector 230 to rotate together, i.e. the cotton swab rotating mechanism 200 rotates together with the rotating output shaft of the motor.
As will be appreciated by those skilled in the art, the attachment aperture 231 is coaxial with the flat tapered flare of the swab inlet and outlet portion 310. Therefore, the rotary output shaft inserted into the connecting hole 231 is at the same height as the cotton swab, and the cotton swab rotating mechanism rotates by taking the horizontal line of the cotton swab as the rotating shaft, so that the cotton swab rotates above the fixed part of the body of the patient instead of rotating in a larger space range (thus deviating from the part of the patient to be sampled), and smooth sampling is ensured.
In one embodiment, referring to fig. 1 and 3, a vertically outwardly projecting stem 233 is provided on the planar portion 234 for touching the travel switch during rotation of the swab rotation mechanism 200 to limit the rotational travel of the swab rotation mechanism 200. Specifically, the external driving motor may be controlled by two travel switches, where the two travel switches are electronic switches and are both disposed on a support bracket of the external driving motor, the two travel switches and the rod 233 are located in the same vertical plane and are located at two sides of the rod 233, and when the external driving motor works, the motor itself or a rotation output shaft of the speed reducer drives the connecting piece 230 and the rod 233 to rotate, and when the rod 233 rotates to contact with any one travel switch, the travel switch acts to make the external driving motor reversely rotate or stop working. By this arrangement, the rotation range of the lever 233 can be limited in the arc range where the connection point of the lever 233 and the connecting piece 230 is used as the center and the two electronic travel switches are respectively the starting point and the ending point of the arc section, so that the lever 233 can only rotate in the central angle range corresponding to the arc, and the cotton swab is limited to rotate in the angle range, thereby conforming to the conventional cotton swab sampling operation mode.
Referring to fig. 6, the present invention further provides an automatic throat swab collecting robot, which comprises a driving motor and the swab sampling manipulator as described above, wherein the driving motor comprises a power output part, and the power output part is fixedly connected with the connecting piece 230 of the swab rotating mechanism 200.
Those skilled in the art will appreciate that the above-described preferred embodiments can be freely combined and stacked without conflict.
It will be understood that the above-described embodiments are merely illustrative and not restrictive, and that all obvious or equivalent modifications and substitutions to the details given above may be made by those skilled in the art without departing from the underlying principles of the invention, are intended to be included within the scope of the appended claims.
Claims (10)
1. The cotton swab sampling manipulator is characterized by comprising a cotton swab automatic clamping and releasing mechanism, a cotton swab rotating mechanism and a cotton swab guiding mechanism;
the cotton swab rotating mechanism comprises a bottom wall and a side wall which are connected, a connecting piece which can be fixedly connected with a power output part of the driving motor is arranged on the outer wall surface of the side wall, and the cotton swab guiding mechanism and the cotton swab automatic clamping and releasing mechanism are both arranged on the bottom wall;
the cotton swab guide mechanism is fixedly arranged at one end of the bottom wall, which is far away from the side wall; the cotton swab guiding mechanism comprises a cotton swab inlet and outlet part and a supporting part which are connected, and the cotton swab inlet and outlet part is fixed on the bottom wall through the supporting part;
the automatic cotton swab clamping and releasing mechanism comprises an electromagnetic adsorption part, a movable clamping piece, a fixed clamping piece, a spring assembly and a fixed column assembly; the movable clamping piece and the fixed clamping piece are used for clamping the rod part of the cotton swab; the electromagnetic adsorption part is arranged on the bottom wall and is used for adsorbing the movable clamping piece to be far away from the fixed clamping piece; the first end of the spring assembly is fixed, the second end of the spring assembly is connected with the movable clamping piece and is used for applying elastic force to the movable clamping piece so that the movable clamping piece is close to the fixed clamping piece to clamp the cotton swab; the fixed column assembly is fixedly connected with the bottom wall, the fixed clamping piece is fixed on the upper portion of the fixed column assembly, and the movable clamping piece is installed between the fixed clamping piece and the bottom wall and can slide along the fixed column assembly.
2. The swab sampling robot of claim 1, wherein the spring assembly comprises a plurality of compression springs, each compression spring having a first end secured to the bottom wall and a second end secured to the movable jaw.
3. The cotton swab sampling manipulator according to claim 2, wherein the bottom wall is provided with a plurality of first blind holes, the movable clamping piece is provided with a plurality of second blind holes, the first blind holes and the second blind holes are oppositely arranged in a one-to-one correspondence, and two ends of each compression spring are respectively accommodated in the corresponding first blind holes and second blind holes.
4. The swab sampling manipulator of claim 2, wherein the fixed column assembly is provided with a stop, and the movable jaw is located between the stop and the fixed jaw; the fixing column assembly comprises a plurality of fixing columns, wherein a shoulder structure is arranged on at least one part of the fixing columns, and the shoulder structure forms the stop part; a first through hole is formed in each fixed column along the axial direction, and the movable clamping piece is provided with a plurality of first openings and sleeved on each fixed column through each first opening; the fixing clamping pieces are arranged at the top ends of the fixing columns, and are provided with second openings, and the diameters of the second openings are smaller than the diameters of the fixing columns; the bottom wall is provided with a third opening, and the fixing bolts respectively pass through the second opening, the first through hole and the third opening in sequence and are matched with the nuts so that the relative positions of the fixing clamping pieces, the fixing columns and the bottom wall are fixed.
5. The cotton swab sampling manipulator according to claim 1, wherein the movable clamping piece is provided with a first clamping groove, the fixed clamping piece is provided with a second clamping groove opposite to the first clamping groove, and the first clamping groove and the second clamping groove are used for clamping a rod portion of a cotton swab.
6. The swab sampling robot of any one of claims 1 to 5, wherein the swab inlet and outlet portion has a cross-sectional outer contour that is oblate; the inner contour of the cotton swab inlet and outlet part is a flat conical horn hole and is used for guiding the tail end of the cotton swab; and the position of the supporting part corresponding to the horn hole is provided with a perforation, and the inner diameter of the perforation is the same as the inner diameter of the tail end of the horn hole and is used for the rod part of the cotton swab to pass through.
7. The cotton swab sampling manipulator according to claim 6, wherein a threaded hole is formed in the bottom of the supporting portion, a fourth hole is formed in the bottom wall at a position corresponding to the threaded hole, and a threaded fastener fixedly connects the supporting portion and the bottom wall through the fourth hole and the threaded hole; the upper dimension of the supporting part is larger than the bottom dimension in the axial direction of the cotton swab, the front end of the bottom of the supporting part is close to but not exceeding the front end of the bottom wall, and the front end of the upper part of the supporting part exceeds the front end of the bottom wall; the bottom wall is provided with a positioning block, and the positioning block abuts against the side face, opposite to the side wall, of the supporting portion.
8. The cotton swab sampling manipulator according to claim 1, wherein a connecting hole with a D-shaped cross section is formed in the connecting piece and is used for being connected with a power output part of a driving motor in a matched mode to drive, and a straight part of the D-shaped cross section corresponds to the top of the connecting hole; the top of the outer surface of the connecting piece is a plane part, and a threaded hole is formed in the plane part and used for screwing in a set screw so as to fix the power output part with the connecting piece.
9. The swab sampling robot of claim 8, wherein the planar portion is provided with a vertically outwardly projecting stem for touching a travel switch during rotation of the swab rotation mechanism to limit the rotational travel of the swab rotation mechanism.
10. An automatic throat swab collecting robot, which is characterized by comprising a driving motor and the cotton swab sampling manipulator according to any one of claims 1-9, wherein the driving motor comprises a power output part, and the power output part is fixedly connected with a connecting piece of the cotton swab rotating mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110393937.XA CN113116392B (en) | 2021-04-13 | 2021-04-13 | Cotton swab sampling manipulator and throat swab automatic acquisition robot |
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| CN202110393937.XA CN113116392B (en) | 2021-04-13 | 2021-04-13 | Cotton swab sampling manipulator and throat swab automatic acquisition robot |
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| CN113116392B true CN113116392B (en) | 2023-07-21 |
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| CN114043496B (en) * | 2021-11-18 | 2023-05-30 | 上海交通大学 | Vision-touch guided tissue secretion sampling robot |
| CN117426800A (en) * | 2023-02-02 | 2024-01-23 | 沈苏科技(苏州)股份有限公司 | Automatic control sampling equipment |
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| CN108535072B (en) * | 2018-06-16 | 2020-07-03 | 郑晓霞 | Gynecological examination sample processing device |
| CN211565916U (en) * | 2020-01-28 | 2020-09-25 | 杭州德新普生物科技有限公司 | Cotton swab tongs device |
| CN111631759B (en) * | 2020-06-10 | 2024-01-30 | 苏州点合医疗科技有限公司 | Touch automatic protection type nasopharynx swab specimen collection robot |
| CN112494074A (en) * | 2020-09-09 | 2021-03-16 | 上海健康医学院 | Pharynx swab collection system |
| CN112545574A (en) * | 2021-01-05 | 2021-03-26 | 杭州医学院 | Intelligence pharynx swab acquisition robot |
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